Admin مدير المنتدى
عدد المساهمات : 19004 التقييم : 35512 تاريخ التسجيل : 01/07/2009 الدولة : مصر العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
| موضوع: كتاب Robot Manipulator Control Theory and Practice الأربعاء 09 نوفمبر 2011, 2:47 pm | |
|
أخوانى فى الله أحضرت لكم كتاب
Robot Manipulator Control Theory and Practice - Frank L.Lewis
ويتناول الموضوعات الأتية :
Commercial Robot Manipulators Introduction Flexible Robotic Workcells Commercial Robot Configurations and Types Manipulator Performance Common Kinematic Configurations Drive Types of Commercial Robots Commercial Robot Controllers Sensors Types of Sensors Sensor Data Processing References Introduction to Control Theory Introduction Linear State-Variable Systems Continuous-Time Systems Discrete-Time Systems Nonlinear State-Variable Systems Continuous-Time Systems Discrete-Time Systems Nonlinear Systems and Equilibrium Points Vector Spaces, Norms, and Inner Products by Marcel Dekker, Inc xii CONTENTS Linear Vector Spaces Norms of Signals and Systems Inner Products Matrix Properties Stability Theory Lyapunov Stability Theorems Functions Of Class K Lyapunov Theorems The Autonomous Case Input/Output Stability Advanced Stability Results Passive Systems Positive-Real Systems Lure’s Problem The MKY Lemma Useful Theorems and Lemmas Small-Gain Theorem Total Stability Theorem Linear Controller Design Summary and Notes References Robot Dynamics Introduction Lagrange-Euler Dynamics Force, Inertia, and Energy Lagrange’s Equations of Motion Derivation of Manipulator Dynamics Structure and Properties of the Robot Equation Properties of the Inertia Matrix Properties of the Coriolis/Centripetal Term Properties of the Gravity, Friction, and Disturbance Linearity in the Parameters Passivity and Conservation of Energy State-Variable Representations and Feedback Linearization Hamiltonian Formulation Position/Velocity Formulations Feedback Linearization Cartesian and Other Dynamics Cartesian Arm Dynamics by Marcel Dekker, Inc CONTENTS xiii Structure and Properties of the Cartesian Dynamics Actuator Dynamics Dynamics of a Robot Arm with Actuators Third-Order Arm-Plus-Actuator Dynamics Dynamics with Joint Flexibility Summary References Problems Computed-Torque Control Introduction Path Generation Converting Cartesian Trajectories to Joint Space Polynomial Path Interpolation Linear Function with Parabolic Blends Minimum-Time Trajectories Computer Simulation of Robotic Systems Simulation of Robot Dynamics Simulation of Digital Robot Controllers Computed-Torque Control Derivation of Inner Feedforward Loop PD Outer-Loop Design PID Outer-Loop Design Class of Computed-Torque-Like Controllers PD-Plus-Gravity Controller Classical Joint Control Digital Robot Control Guaranteed Performance on Sampling Discretization of Inner Nonlinear Loop Joint Velocity Estimates from Position Measurements Discretization of Outer PD/PID Control Loop Actuator Saturation and Integrator Antiwindup Compensation Optimal Outer-Loop Design Linear Quadratic Optimal Control Linear Quadratic Computed-Torque Design Cartesian Control Cartesian Computed-Torque Control Cartesian Error Computation Summary by Marcel Dekker, Inc xiv CONTENTS References Problems Robust Control of Robotic Manipulators Introduction Feedback-Linearization Controllers Lyapunov Designs Input-Output Designs Nonlinear Controllers Direct Passive Controllers Variable-Structure Controllers Saturation-Type Controllers Dynamics Redesign Decoupled Designs Imaginary Robot Concept Summary References Problems Adaptive Control of Robotic Manipulators Introduction Adaptive Control by a Computed-Torque Approach Approximate Computed-Torque Controller Adaptive Computed-Torque Controller Adaptive Control by an Inertia-Related Approach Examination of a PD Plus Gravity Controller Adaptive Inertia-Related Controller Adaptive Controllers Based on Passivity Passive Adaptive Controller General Adaptive Update Rule Persistency of Excitation Composite Adaptive Controller Torque Filtering Least-Squares Estimation Composite Adaptive Controller Robustness of Adaptive Controllers Torque-Based Disturbance Rejection Method Estimator-Based Disturbance Rejection Method Summary References Problems by Marcel Dekker, Inc CONTENTS xv Advanced Control Techniques Introduction Robot Controllers with Reduced On-Line Computation Desired Compensation Adaptation Law Repetitive Control Law Adaptive Robust Control Compensation for Actuator Dynamics Electrical Dynamics Joint Flexibilities Summary References Problems Neural Network Control of Robots Introduction Background in Neural Networks Multilayer Neural Networks Linear-in-the-parameter neural nets Tracking Control Using Static Neural Networks Robot Arm Dynamics and Error System Adaptive Control Neural Net Feedback Tracking Controller Tuning Algorithms for Linear-in-the-Parameters NN Tuning Algorithms for Nonlinear-in-the-Parameters NN Passivity Properties of NN Controllers Passivity of the Robot Tracking Error Dynamics Passivity Properties of -layer NN Controllers Passivity Properties of -Layer NN Controllers Summary References Force Control Introduction Stiffness Control Stiffness Control of a Single-Degree-of-Freedom Manipulator The Jacobian Matrix and Environmental Forces Stiffness Control of an N-Link Manipulator Hybrid Position/Force Control Hybrid Position/Force Control of a Cartesian Two-Link Arm by Marcel Dekker, Inc xvi CONTENTS Hybrid Position/Force Control of an N-Link Manipulator Implementation Issues Hybrid Impedance Control Modeling the Environment Position and Force Control Models Impedance Control Formulation Implementation Issues Reduced State Position/Force Control Effects of Holonomic Constraints on the Manipulator Dynamics Reduced State Modeling and Control Implementation Issues Summary References Problems Robot Control Implementation and Software Introduction Tools and Technologies Design of the Robotic Platform Overview Core Classes Robot Control Classes External Device Classes Utility Classes Configuration Management Object Manager Concurrency/Communication Model Plotting and Control Tuning Capabilities Math Library Error Management and the Front-End GUI Operation of the Robotic Platform Scene Viewer and Control Panels Utility Programs for Moving the Robot Writing, Compiling, Linking, and Starting Control Programs Programming Examples Comparison of Simulation and Implementation Virtual Walls Summary References by Marcel Dekker, Inc CONTENTS xvii A Review of Robot Kinematics and Jacobians A Basic Manipulator Geometries A Robot Kinematics A The Manipulator Jacobian References B Software for Controller Simulation References C Dynamics of Some Common Robot Arms C SCARA ARM C Stanford Manipulator C PUMA Manipulator References
أتمنى أن تستفيدوا منه وأن ينال إعجابكم
رابط تنزيل كتاب Robot Manipulator Control Theory and Practice - Frank L.Lewis
عدل سابقا من قبل أحمد دعبس في الأربعاء 03 أبريل 2013, 6:03 pm عدل 1 مرات |
|
starmutlk مهندس تحت الاختبار
عدد المساهمات : 4 التقييم : 4 تاريخ التسجيل : 11/10/2012 العمر : 63 الدولة : iraq العمل : lucture الجامعة : alanbar
| موضوع: رد: كتاب Robot Manipulator Control Theory and Practice الثلاثاء 02 أبريل 2013, 8:06 pm | |
|
the link isnot avalabel pleace active it |
|
Admin مدير المنتدى
عدد المساهمات : 19004 التقييم : 35512 تاريخ التسجيل : 01/07/2009 الدولة : مصر العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
| موضوع: رد: كتاب Robot Manipulator Control Theory and Practice الأربعاء 03 أبريل 2013, 6:04 pm | |
|
- starmutlk كتب:
- the link isnot avalabel pleace active it
تم تعديل الرابط وإذا وجدت أى رابط أخر لا يعمل نرجو ترك رد فى الموضوع وسيتم تعديله على الفور إن شاء الله |
|
eman مهندس فعال
عدد المساهمات : 136 التقييم : 154 تاريخ التسجيل : 12/03/2012 العمر : 32 الدولة : Egypt العمل : Student الجامعة : Meunofia
| موضوع: رد: كتاب Robot Manipulator Control Theory and Practice الأحد 26 مايو 2013, 1:46 am | |
|
محتاجة كتاب يكون بيتكلم عن roll , pitch and yaw فى robots |
|
Admin مدير المنتدى
عدد المساهمات : 19004 التقييم : 35512 تاريخ التسجيل : 01/07/2009 الدولة : مصر العمل : مدير منتدى هندسة الإنتاج والتصميم الميكانيكى
| موضوع: رد: كتاب Robot Manipulator Control Theory and Practice الأحد 26 مايو 2013, 7:15 am | |
|
- eman كتب:
- محتاجة كتاب يكون بيتكلم عن roll , pitch and yaw فى robots
حاضر ...... جارى البحث |
|